Control Techniques Nidec SI-EtherCAT User Manual page 54

0x3005 Cyclic data loss behaviour
Sub-index 3: CiA402 Cyclic Data Missed Count
Access: RO
Default: N/A
PDO Mappable: No
A count of the number of times the PDO data arrived late for the CiA402 motion profiles to use
that data. For example, in CSP, the motion profile code is expecting a new updated target
Description:
position a certain defined time after the Sync0 event. If this fails, this counter is incremented.
The counter can be reset by writing a zero to this sub-index.
Sub-index 4: PDO Loss re-arm delay
Access: RW
Default: N/A
PDO Mappable: No
The delay after a PDO loss action has been completed and the PDO loss mechanism is re-
Description: armed. Note: the delay starts from the point at which the trip is cleared (if a trip was raised).
The PDO Loss function is always armed when moving from SafeOp to Op states.
Sub-index 5: Max Weighted Internal SM event missed counter
Access: RW
Default: 0
PDO Mappable: No
The maximum value seen for the weighted "internal" SM event missed counter as defined in
ETG 1020 and used by object 0x10F1 to determine when to exit OP state due to excess
Description:
network errors. This counter only operates when DC Sync is active. The maximum can be
reset by writing a zero to this sub-index.
Sub-index 6: Reserved
Access: RO
Default: N/A
PDO Mappable: No
Description: Not used
Sub-index 7: Max PDO loss duration
Access: RW
Default: 0
PDO Mappable: No
The maximum PDO loss duration seen so far, when this value exceeds 0x3005:1 then the
Description: action in 0x3005:2 will be performed. The maximum can be reset by writing a zero to this sub-
index.
Sub-index 8: Too many PDO counter
Access: RO
Default: N/A
PDO Mappable: No
A count of the number of times two PDOs were seen in a single Cycle. This counter only
Description:
operates when DC Sync is active.
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Range: 0 to 65535
Range: 1 to 65535
Range: 0 to 4
Range: 0
Range: 0 to 4
Range: 0 to 65535
Size: 2 bytes
Type: Unsigned integer / UINT
Update Rate: On each PDO loss
Size: 2 bytes
Type: Unsigned integer / UINT
Update Rate: New value used transition from
SafeOp to Op and each time the PDO lost
detection is re-armed.
Size: 2 bytes
Type: Unsigned integer / UINT
Update Rate: On each PDO loss
Size: 2 bytes
Type: Unsigned Integer / UINT
Update Rate: N/A
Size: 2 bytes
Type: Unsigned Integer / UINT
Update Rate: On SafeOp to Op transition and
each time the PDO lost detection is re-armed.
Size: 2 bytes
Type: Unsigned Integer / UINT
Update Rate: On each excess PDO event
SI-EtherCAT User Guide
Unit: N/A
Unit: Seconds
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A